commander delete unused sensors check

msg/vehicle_status_flags.msg

@@ -50,8 +50,6 @@ uint16 VTOL_TRANSITION_FAILURE_MASK = 1024
 uint16 VTOL_TRANSITION_FAILURE_CMD_MASK = 2048
 uint16 GPS_FAILURE_MASK = 4096
 uint16 GPS_FAILURE_CMD_MASK = 8192
-uint16 BAROMETER_FAILURE_MASK = 16384
-uint16 EVER_HAD_BAROMETER_DATA_MASK = 32768
 
 # 0x0001 usb_connected: status of the USB power supply
 # 0x0002 offboard_control_signal_found_once
@@ -67,7 +65,5 @@ uint16 EVER_HAD_BAROMETER_DATA_MASK = 32768
 # 0x0800 vtol_transition_failure_cmd: Set to true if vtol transition failure mode is commanded
 # 0x1000 gps_failure: Set to true if a gps failure is detected
 # 0x2000 gps_failure_cmd: Set to true if a gps failure mode is commanded
-# 0x4000 barometer_failure: Set to true if a barometer failure is detected
-# 0x8000 ever_had_barometer_data: Set to true if ever had valid barometer data before
 
 uint16 other_flags

src/modules/commander/commander.cpp

@@ -1388,10 +1388,6 @@ Commander::run()
 	status_flags.offboard_control_signal_found_once = false;
 	status_flags.rc_signal_found_once = false;
 
-	/* assume we don't have a valid baro on startup */
-	status_flags.barometer_failure = true;
-	status_flags.ever_had_barometer_data = false;
-
 	/* mark all signals lost as long as they haven't been found */
 	status.rc_signal_lost = true;
 	status_flags.offboard_control_signal_lost = true;
@@ -1566,11 +1562,6 @@ Commander::run()
 	gps_position.eph = FLT_MAX;
 	gps_position.epv = FLT_MAX;
 
-	/* Subscribe to sensor topic */
-	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
-	struct sensor_combined_s sensors;
-	memset(&sensors, 0, sizeof(sensors));
-
 	/* Subscribe to differential pressure topic */
 	int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
 	struct differential_pressure_s diff_pres;
@@ -1971,37 +1962,6 @@ Commander::run()
 			}
 		}
 
-		orb_check(sensor_sub, &updated);
-
-		if (updated) {
-			orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
-
-			/* Check if the barometer is healthy and issue a warning in the GCS if not so.
-			 * Because the barometer is used for calculating AMSL altitude which is used to ensure
-			 * vertical separation from other airtraffic the operator has to know when the
-			 * barometer is inoperational.
-			 * */
-			hrt_abstime baro_timestamp = sensors.timestamp + sensors.baro_timestamp_relative;
-			if (hrt_elapsed_time(&baro_timestamp) < FAILSAFE_DEFAULT_TIMEOUT) {
-				/* handle the case where baro was regained */
-				if (status_flags.barometer_failure) {
-					status_flags.barometer_failure = false;
-					status_changed = true;
-					if (status_flags.ever_had_barometer_data) {
-						mavlink_log_critical(&mavlink_log_pub, "baro healthy");
-					}
-					status_flags.ever_had_barometer_data = true;
-				}
-
-			} else {
-				if (!status_flags.barometer_failure) {
-					status_flags.barometer_failure = true;
-					status_changed = true;
-					mavlink_log_critical(&mavlink_log_pub, "baro failed");
-				}
-			}
-		}
-
 		orb_check(diff_pres_sub, &updated);
 
 		if (updated) {
@@ -3257,7 +3217,6 @@ Commander::run()
 	px4_close(local_position_sub);
 	px4_close(global_position_sub);
 	px4_close(gps_sub);
-	px4_close(sensor_sub);
 	px4_close(safety_sub);
 	px4_close(cmd_sub);
 	px4_close(subsys_sub);
@@ -4575,12 +4534,6 @@ void publish_status_flags(orb_advert_t &vehicle_status_flags_pub, vehicle_status
 	if (status_flags.gps_failure_cmd) {
 		v_flags.other_flags |= vehicle_status_flags_s::GPS_FAILURE_CMD_MASK;
 	}
-	if (status_flags.barometer_failure) {
-		v_flags.other_flags |= vehicle_status_flags_s::BAROMETER_FAILURE_MASK;
-	}
-	if (status_flags.ever_had_barometer_data) {
-		v_flags.other_flags |= vehicle_status_flags_s::EVER_HAD_BAROMETER_DATA_MASK;
-	}
 
 	if ((v_flags.conditions != vehicle_status_flags.conditions) ||
 		(v_flags.other_flags != vehicle_status_flags.other_flags) ||

src/modules/commander/state_machine_helper.h

@@ -110,8 +110,6 @@ struct status_flags_s {
     bool vtol_transition_failure_cmd;                // Set to true if vtol transition failure mode is commanded
     bool gps_failure;                                // Set to true if a gps failure is detected
     bool gps_failure_cmd;                                // Set to true if a gps failure mode is commanded
-    bool barometer_failure;                                // Set to true if a barometer failure is detected
-    bool ever_had_barometer_data;                        // Set to true if ever had valid barometer data before
 };
 
 bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed);